/*********************************************************************
* Software License Agreement (BSD License)
* 
*  Copyright (c) 2010, Jack Pien
*  All rights reserved.
* 
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
* 
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
* 
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#ifndef __DAIDO_FACE_LOCATE_HPP
#define __DAIDO_FACE_LOCATE_HPP

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/CvBridge.h>
#include <image_transport/image_transport.h>

#include <boost/thread.hpp>
#include <boost/format.hpp>

namespace __DaidoNs {

    /**
     * Face recognition and localization module
     */
    class FaceLocate
    {
    private:
        sensor_msgs::CvBridge img_bridge_;
        image_transport::Publisher img_pub_;
        CvHaarClassifierCascade* cascade_;
        CvMemStorage* storage_;
        ros::Publisher face_location_pub_;
        

    public:
        /**
         * Constructor
         */
        FaceLocate() {
            // Load the cascade 
            cascade_ = NULL; 

            // Initialize storage
            storage_ = cvCreateMemStorage(0);
        }

        /**
         * Destructor
         */
        virtual ~FaceLocate() {
            if( cascade_ != NULL ) {
                cvReleaseHaarClassifierCascade( &cascade_ );
            }
            if( storage_ != NULL ) {
                cvReleaseMemStorage( &storage_ );
            }
        }

        /**
         * Start process
         */
        int Start( int argc, char** argv );

        /**
         * Callback for image messages
         */
        void ImageCB( const sensor_msgs::ImageConstPtr& msg );
    };

};

#endif // __DAIDO_FACE_LOCATE_HPP

